ROS2 RVIZ2

#rviz   #rviz2   #launch   #ros2  

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Table of Content

RVIZ

Run from cli

rviz -d <path to config file>

Run from launch

Note

Rviz conifg file locate at package config folder don’t forget to include config folder in setup data_files argument

data_files=[
    (os.path.join('share', package_name, "config"), glob('config/*.rviz'))
]

Launch

launch.py

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node
from pathlib import Path



def generate_launch_description():
    use_sim_time = LaunchConfiguration("use_sim_time")
    use_sim_time_arg = DeclareLaunchArgument(
        "use_sim_time", default_value="false", description="Use sim time if true"
    )
    # Process the URDF file
    pkg_description = get_package_share_directory("bot_description")
    rviz_config = Path(pkg_description).joinpath("config", "rviz.rviz").as_posix()

    rviz = Node(
       package='rviz2',
       executable='rviz2',
       arguments=['-d', rviz_config],
       parameters=[{'use_sim_time': use_sim_time}]
    )

    return LaunchDescription(
            [
                use_sim_time_arg,
                rviz
            ]
        )